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US4772836A - Motorized electric control device - Google Patents

Motorized electric control device Download PDF

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Publication number
US4772836A
US4772836A US06/911,940 US91194086A US4772836A US 4772836 A US4772836 A US 4772836A US 91194086 A US91194086 A US 91194086A US 4772836 A US4772836 A US 4772836A
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US
United States
Prior art keywords
control device
joystick
forks
electric
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US06/911,940
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English (en)
Inventor
Gerard Godon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Societe dApplications des Machines Motrices SAMM SA
Original Assignee
Societe dApplications des Machines Motrices SAMM SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Assigned to S.A.M.M. - SOCIETE D'APPLICATIONSDES MACHINES MOTRICES, reassignment S.A.M.M. - SOCIETE D'APPLICATIONSDES MACHINES MOTRICES, ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: GODON, GERARD
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer

Definitions

  • the present invention relates to a motorized electric control device and to a control system comprising at least two control devices, one of which is operated manually and the other(s) is/are slaved to the first control device.
  • a first operator hereinafter called the "commander”
  • the second operator hereinafter called the "layer”
  • the commander attends to the finer tracking of the target with the aid of a high-magnification sight and to opening fire (firing phase).
  • the commander imparts to the weapons a speed proportional to the angle of inclination of the joystick of his control device. It is important for the commander to be aware of the movement of his joystick (elevation and bearing) in relation to the normal reference position (joystick vertical), and that means should be provided for returning the joystick to that position.
  • the layer initiates the firing phase, if the joystick of his device is inclined at the same angle as that of the commander's device, the disturbance of weapon control when the change of operator is made will be minimized and fire will be opened more quickly.
  • the invention seeks to provide a slaved control device and a slaved control system enabling the problems of the prior art to be solved.
  • a motorized electric control device provided with a control joystick, characterized in that it comprises two electric torque motors which are mounted in a frame and whose axes of rotation are at right angles to one another, two forks coupled at one end to the respective torque motor shafts and offset relative to said shafts, the joystick passing through said forks and being mounted for pivoting in relation to the point of intersection of the axes of rotation of the torque motors; resilient means for returning the joystick to a vertical position; and an electric circuit connected to the outputs of potentiometers and to the electric inputs of the torque motors in order to produce a resistant torque of the torque motors proportional to their angular displacement relative to a determined position corresponding to the vertical position of the joystick.
  • the invention further relates to a control system characterized in that it comprises at least two motorized electric control devices, a first control device being intended to be operated manually, and in that the external control inputs of the other control device or devices are connected to the outputs of the rotary potentiometers of the first control device.
  • FIG. 1 is a top plan view, with the top cover removed, of a control device according to the invention
  • FIG. 2 is a view in section on the line II--II in FIG. 1;
  • FIG. 3 is a detail view of the coupling device between a potentiometer and a fork, as used in the control device shown, in FIG. 1, and
  • FIG. 4 is a block diagram of a control system comprising two control devices according to the invention.
  • the control device 1 shown in FIGS. 1 and 2 comprises a bottom cover 2a and a top cover 2b, which are fixed one on each side of a plate 3 forming a housing intended to receive the assembly of control means which is fixed to said plate.
  • Two electric torque motors 4 and 5 are fixed on the support plate 3 in such a manner that their shafts 6 are situated at right angles to one another in the horizontal plane (see FIG. 2).
  • Each shaft 6 is mounted at each end in respective ball bearings 7 fixed on the support plate by fastening rings 7a and screws 7b, and is provided, at the end directed towards the point of intersection of the axes of the two shafts, with a conical-band coupling 8.
  • This coupling is intended to permit connection free from play of each shaft end to a respective fork 9, 10.
  • the forks 9 and 10 are each composed of a cylindrical part 11 intended to come into engagement with the conical-band coupling, and of an arcuate curvilinear part 12, which is offset relative to the associated motor shaft, the amplitude of the offset being different for each fork; the forks are each provided with a central slot 13 (FIG. 1) adapted to permit the passage of an operating joystick 14.
  • the offset arrangement and the curvature (radii of curvature starting from the same centre) of the parts 12 are such that each of them can describe a rotational movement on each side of the vertical position in which the joystick 14 is shown.
  • the joystick 14 is provided at its bottom end with a ball 15 mounted pivotally in a socket 16 formed in the support plate 3, in such a manner that the centre of the ball is situated at the point of intersection of the axes of the two torque motors.
  • the support plate 3 has in the top part of the socket a widened-out shape at 16a for the purpose of limiting the angular movement of the joystick.
  • the central part of the joystick 14 is composed of a widened portion 14a, on which a bellows 14 is gripped by means of a washer 19a and a collar 19b screwed onto the joystick.
  • the bottom of the bellows 18 is fixed on the top cover 2b.
  • the ends of the curvilinear parts 12 are each connected by a connecting device 20 to the shaft 21 of a rotary potentiometer 22.
  • the casing of the potentiometer 22 is fixed to the support plate 2 by means of a fastening ring 23 fixed at the bottom by a screw 23a passing through the support plate 3.
  • the connecting device 20 is shown in detail in FIG. 3.
  • This device comprises a clamp 24 in which the shaft 21 of the corresponding potentiometer 22 is received and gripped therein with the aid of a screw 25.
  • a stud 26 is disposed between a projecting part 27 of the clamp and a resilient plate 28 facing the projecting part 27 and fixed on one side of the clamp by the screw 25. This stud 26 is engaged at its other end in a hole formed in the end of the corresponding fork 9 or 10.
  • each potentiometer 22 is offset in the upward direction in relation to the axis of the shaft 6 carrying the fork 9 or 10, so that a rotation of 20° of the shaft on one side or the other of the position of rest entails a rotation of the potentiometer axis of about 30° in the same direction of rotation and permits a sufficiently accurate measurement of the rotation of the fork through voltage variation.
  • the joystick 14 is provided at its top end with a pushbutton 14b which is used in a control system and the function of which will be described with reference to FIG. 4.
  • a spring 29, which returns the fork to a position corresponding to a vertical position of the joystick 14 when there is no current in the device, is fixed by one end on a first sleeve 11a fastened to the cylindrical portion 11 of the fork 9 or 10, and by its other end to a second sleeve 11b surrounding a section of the cylindrical portion 11 and fastened by means of an annular brace 7c to the fastening ring 7a of the ball bearing 7 situated at the fork (9 or 10) end.
  • the potentiometers and the torque motor inputs are connected electrically to an electric circuit 30, the configuration and functions of which will likewise be described in detail with reference to FIG. 4.
  • the forks 9 and 10 turn simultaneously or separately about the axes of the torque motors, thus giving rise to the simultaneous rotation of the associated torque motor and potentiometer shafts.
  • Each motor is connected to the centre point of the corresponding potentiometer, whose end terminals are connected to a voltage source (not shown) by way of an electric circuit (not shown), in such a manner that said torque motors receive a current which creates a resistant torque opposite and directly proportional to their angular displacement in relation to a determined position corresponding to the vertical position of the joystick.
  • This proportionality relationship enables the operator to take note of the magnitude of the pivoting movement of the joystick in relation to its vertical reference position.
  • the resistant torque also enables the joystick to be returned to a vertical position, the torsion springs 29 entailing an automatic return of the joystick to its vertical position in the absence of current in the device.
  • a control device of this kind may also be slaved to an electric remote control device by applying to the torque motors of that control device, by way of the electric circuit 30, an electric current signal corresponding to a desired displacment of the joystick.
  • a system of this kind may be applied to training functions in order to permit the simulation of an acquisition phase and/or a firing phase in pilot and gunner training schools.
  • FIG. 4 is a block diagram of a control system comprising two control devices 1 and 1' of the type described above, the first control device 1 being intended to be operated manually by an operator, and the second 1' being connected electrically to the first device in such a manner as to be slaved to the operation of the latter.
  • These first and second control devices will hereinafter be referred to respectively as "command or master contol device” and “layer or slave control device”.
  • commands or master contol device and “layer or slave control device”.
  • these control devices are identical, so that only the structure of the control device 1 will be described below, the components of the control device 1' corresponding to those of the device 1 being given the same reference numerals with the addition of a prime.
  • the control device 1 contains a relay 31 connected to earth or ground on the one hand and to one of the terminals of the pushbutton 14b on the other hand.
  • the other terminal of the pushbutton 14b is connected to a first output terminal A of the control device, this terminal being intended to be connected to a 27-volt supply source (not shown).
  • a diode 32 is connected by its cathode to the terminal A and by its anode to an output terminal B.
  • a first closed contact 33 is connected between the terminals A and B.
  • Each of the motors 34 and 35 is connected to a potentiometer 36 and 37 respectively by the mechanical connection described in connection with FIGS. 1 to 3 and illustrated schematically in FIG. 4.
  • the outputs of the potentiometers 36 and 37 are connected respectively to terminals of two change-over switches 38 and 39, whose centre terminals are connected respectively to outputs C and D of the control device, the third terminal being connected to earth or ground.
  • the outputs of the potentiometers 36 and 37 are likewise connected to output terminals E and F of the control device on the one hand, and to the negative inputs of two subtracter circuits 40 and 41, on the other hand.
  • the positive inputs of the circuits 40 and 41 are connected respectively to the centre terminals of two change-over switches 42 and 43, whose other terminals are connected respectively to an input terminal G of the device and to earth, and to an input terminal H of the device and to earth.
  • the terminals C and D constitute the slave output terminals
  • the terminals E and F constitute the output control terminals
  • the terminals G and H constitute the slave input terminals of the control device.
  • the outputs of the two subtracters 40 and 41 are connected respectively to filter and amplifier circuits 44 and 45, to which are respectively connected in parallel two open contacts 46 and 47.
  • the outputs of the filter circuits 44 and 45 are respectively connected to inputs of two amplifier circuits 48 and 49, whose outputs are connected respectively to the input terminals of the torque motors 34 and 35.
  • the contacts 33, 46 and 47 and the change-over switches 38, 39 , 42 and 43 are all controlled by the relay 31 and, when the relay is not energized, are in the positions shown in FIG. 4.
  • the two control devices 1 and 1' are connected together by the following connections: B-B', C-G', D-H'" C'-G and D'-H.
  • the input terminal A is fed with direct voltage of 27 volts, unlike the terminal A', for the reason that in the example illustrated the control device 1 is the command device, while the control device 1' is the layer device.
  • the connections D'-H and C'-G exist only for cases where the control device 1' becomes the command device, the +27 volt supply source being connected to the input terminal A', or for changing over to the firing phase, as will be explained in connection with the operation of the system.
  • the output control terminals E, F and E', F' are intended respectively for connection to the units (not shown) which have to be controlled by the control devices 1 and 1'.
  • the electric circuit 30 mentioned in connection with FIG. 1 contains the components 31 to 33 and 38 to 49.
  • the commander or pilot operates the button 14b to operate direction controls (for an aircraft elevation and bearing controls) with the aid of the joystick 14 and the control device 1.
  • the pushbutton 14b When the pushbutton 14b is operated, the relay 31 is energized with the 27-volt supply voltage, and the contacts 33, 46, 47 and the change-over switches 38, 39, 42 and 43 switch over.
  • the positive inputs of the subtracter circuits 40 and 41 are grounded by the change-over switches 42 and 43, and the filters 44 and 45 are short-circuited by the contacts 46 and 47.
  • the potentiometers 36, 37, 36', 37', the filters 44, 45 and 44', 45' and the amplifiers 48, 49 and 48', 49' being fed by +15 volt and +27 volt supplies (not shown), the change-over switches 38 and 39 make it possible to transmit to the layer's or gunner's control device 1', through the slave output terminals G' and H' and the slave input terminals H' and G', elevation and bearing slave signals from the outputs of the potentiometers 36 and 37.
  • the manipulation of the joystick 14 on the axes of the motors brings about the turning of the torque motors 34 and 35 and, with the aid of the forks 9 and 10 and of the connecting device 20, the turning of the rotary elevation potentiometer 36 and bearing potentiometer 37.
  • the positive inputs of the subtracter circuits 40 and 41 being grounded and the filters 44 and 45 being short-circuited, there is obtained at their output a negative signal whose amplitude is that of the output control signal of the potentiometers 36 and 37 respectively.
  • the motors 34 and 35 thus receive, by way of the amplifiers 45 and 46 respectively, a current creating a resistant torque opposite and directly proportional to the inclinations of the joystick on the respective axes 6.
  • the slave signals applied to the inputs G' and H' of the control device 1' are transmitted via the change-over switches 42' and 43' to the positive inputs of the subtracter circuits 40' and 41'.
  • the circuits 40' and 41' respectively effect the subtraction of these slave signals and of the output signals of the elevation potentiometer 37' and bearing potentiometer 36' respectively.
  • the output signals of these subtracter circuits 40' and 41' are respectively applied to the torque motors 34' and 35' by way of the circuits 44' and 45' and of the amplifiers 48' and 49' respectively.
  • the application of this signal entails the turning of the motors, the forks, and the potentiometers, and the pivoting of the joystick in dependence on the turning of the forks.
  • the commander can therefore operate his control device by pressing the operating pushbutton 14b, and can transmit control signals to direction units and slave signals to the firer's control device 1' via his control joystick.
  • the commander feels on his own joystick a force proportional to the pivoting angle of the joystick on the axes of the motors, and he brings about a movement of the joystick 14' of the layer's control device in identical fashion to that of his own joystick 14.
  • the operating pushbutton 14'b of the layer's control device has no effect on the commander's control device.
  • each of the devices indiscriminately as commander's or firer's control device by connecting the 27 volt supply to the input terminal A or A', the other connections remaining unchanged.
  • the control outputs E and F of the commander's control device and the control output terminals E' and F' of the firer's control device are connected to the direction means of the system being controlled.
  • the commander announces this to the layer, who takes control of his joystick 14'.
  • the commander then releases the pushbutton 14b, thus enabling the layer to take over the system, with the aid of the circuit 33 and the diode 32', by operating his pushbutton 14b.
  • the slave control device 1' then becomes the master control device and slaves the control device 1, which nevertheless retains overriding control of the system through the operation of the pushbutton 14b.
  • the commander can thus take over the system with his joystick 14 in the correct position, so that the transfer of control is accelerated and made more secure.
  • the assembly comprising the forks 9, 10 and the conical-band couplings has been indicated solely as a non-limitative example.
  • the forks 9, 10 constitute means converting the rotary movement of the shafts 6 of the torque motors 4, 5 into a pivoting movement of the control joystick 14, and vice versa, and may be replaced by any appropriate equivalent means.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
US06/911,940 1985-09-27 1986-09-26 Motorized electric control device Expired - Fee Related US4772836A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8514391A FR2590044B1 (fr) 1985-09-27 1985-09-27 Dispositif de commande electrique motorise
FR8514391 1985-09-27

Publications (1)

Publication Number Publication Date
US4772836A true US4772836A (en) 1988-09-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
US06/911,940 Expired - Fee Related US4772836A (en) 1985-09-27 1986-09-26 Motorized electric control device

Country Status (5)

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US (1) US4772836A (fr)
EP (1) EP0223631B1 (fr)
JP (1) JPS6274109A (fr)
DE (1) DE3677146D1 (fr)
FR (1) FR2590044B1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5059882A (en) * 1989-05-31 1991-10-22 Sextant Avionique Electromechanical control device usable for piloting a vehicle
WO2000077589A1 (fr) * 1999-06-11 2000-12-21 Wittenstein Gmbh & Co. Kg Dispositif de commande d'un appareil
CN102589351A (zh) * 2012-03-07 2012-07-18 成都信息工程学院 一种基于人影高炮作业参数的数字化采集装置及其检测方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0794362B1 (fr) * 1996-03-08 2001-09-19 ZF Lemförder Metallwaren AG Mécanisme de sélection de rapport pour une transmission
JP3710653B2 (ja) * 1999-08-10 2005-10-26 ホシデン株式会社 多方向入力装置
JP3664665B2 (ja) * 2001-06-01 2005-06-29 株式会社カワサキプレシジョンマシナリ ジョイスティック装置
JP6641211B2 (ja) * 2016-03-23 2020-02-05 大裕株式会社 重機の遠隔操作装置
JP6778982B2 (ja) * 2017-08-25 2020-11-04 東芝三菱電機産業システム株式会社 荷役機器の操作システム

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US3497668A (en) * 1966-08-25 1970-02-24 Joseph Hirsch Tactile control system
DE2015326A1 (de) * 1969-03-31 1971-03-11 Automatische Korrektureinrichtung fur Geschutzsysteme Annr Etat Francais, vertreten durch den Mimstre des Armees (Armement), Paris
US3644816A (en) * 1970-12-21 1972-02-22 Gen Electric Manual and automatic master-slave control system
DE1967002A1 (de) * 1969-09-20 1976-01-15 Licentia Gmbh Schaltungsanordnung zum steuern zweier elektromotore mittels einer kreuzknueppelmechanik
US4054825A (en) * 1974-03-14 1977-10-18 The Marconi Company Limited Control arrangements
US4056763A (en) * 1974-06-19 1977-11-01 Commissariat A L'energie Atomique Device for controlling a mechanical element with effort return
FR2484628A1 (fr) * 1980-02-20 1981-12-18 Eternit Financiere Appareil de controle de pas d'onde
EP0023864B1 (fr) * 1979-08-02 1983-07-06 Association Des Ouvriers En Instruments De Precision Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé
DE3238048A1 (de) * 1982-10-14 1984-04-19 W. Gessmann GmbH, 7105 Leingarten Verbundantrieb fuer schalt- oder stellglieder
US4471280A (en) * 1983-05-06 1984-09-11 The Bendix Corporation Anti-log power amplifier for reversible D.C. motor in automotive steering controls
US4510574A (en) * 1981-09-09 1985-04-09 Commissariat A L'energie Atomique Servosystem between a master actuator and a slave actuator
US4531080A (en) * 1982-06-01 1985-07-23 Saab-Scania Aktiebolag Controller
US4607202A (en) * 1984-08-28 1986-08-19 Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung Apparatus for automatically eliminating control force errors in aircraft, especially helicopters
US4608526A (en) * 1985-04-19 1986-08-26 The United States Of America As Represented By The United States Department Of Energy Electromechanical actuator for the tongs of a servomanipulator

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FR2484626A1 (fr) * 1980-06-11 1981-12-18 Applic Mach Motrices Dispositif de commande automatique de poursuite d'une cible, notamment pour char anti-aerien

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3497668A (en) * 1966-08-25 1970-02-24 Joseph Hirsch Tactile control system
DE2015326A1 (de) * 1969-03-31 1971-03-11 Automatische Korrektureinrichtung fur Geschutzsysteme Annr Etat Francais, vertreten durch den Mimstre des Armees (Armement), Paris
DE1967002A1 (de) * 1969-09-20 1976-01-15 Licentia Gmbh Schaltungsanordnung zum steuern zweier elektromotore mittels einer kreuzknueppelmechanik
US3644816A (en) * 1970-12-21 1972-02-22 Gen Electric Manual and automatic master-slave control system
US4054825A (en) * 1974-03-14 1977-10-18 The Marconi Company Limited Control arrangements
US4056763A (en) * 1974-06-19 1977-11-01 Commissariat A L'energie Atomique Device for controlling a mechanical element with effort return
EP0023864B1 (fr) * 1979-08-02 1983-07-06 Association Des Ouvriers En Instruments De Precision Dispositif de commande manuelle, notamment poignée pour commander les déplacements d'un organe motorisé
FR2484628A1 (fr) * 1980-02-20 1981-12-18 Eternit Financiere Appareil de controle de pas d'onde
US4510574A (en) * 1981-09-09 1985-04-09 Commissariat A L'energie Atomique Servosystem between a master actuator and a slave actuator
US4531080A (en) * 1982-06-01 1985-07-23 Saab-Scania Aktiebolag Controller
DE3238048A1 (de) * 1982-10-14 1984-04-19 W. Gessmann GmbH, 7105 Leingarten Verbundantrieb fuer schalt- oder stellglieder
US4471280A (en) * 1983-05-06 1984-09-11 The Bendix Corporation Anti-log power amplifier for reversible D.C. motor in automotive steering controls
US4607202A (en) * 1984-08-28 1986-08-19 Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung Apparatus for automatically eliminating control force errors in aircraft, especially helicopters
US4608526A (en) * 1985-04-19 1986-08-26 The United States Of America As Represented By The United States Department Of Energy Electromechanical actuator for the tongs of a servomanipulator

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5059882A (en) * 1989-05-31 1991-10-22 Sextant Avionique Electromechanical control device usable for piloting a vehicle
WO2000077589A1 (fr) * 1999-06-11 2000-12-21 Wittenstein Gmbh & Co. Kg Dispositif de commande d'un appareil
EP1528449A1 (fr) 1999-06-11 2005-05-04 Wittenstein AG Dispositif de commande d'un appareil
CN102589351A (zh) * 2012-03-07 2012-07-18 成都信息工程学院 一种基于人影高炮作业参数的数字化采集装置及其检测方法
CN102589351B (zh) * 2012-03-07 2014-11-26 成都信息工程学院 一种基于人影高炮作业参数的数字化采集装置及其检测方法

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JPS6274109A (ja) 1987-04-04
JPH0511322B2 (fr) 1993-02-15
DE3677146D1 (de) 1991-02-28
EP0223631B1 (fr) 1991-01-23
FR2590044B1 (fr) 1988-01-29
EP0223631A1 (fr) 1987-05-27
FR2590044A1 (fr) 1987-05-15

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